Changed Accelerometer to MPU6050

.clang-format

@@ -13,5 +13,6 @@ AlwaysBreakAfterDefinitionReturnType: None
 AlwaysBreakAfterReturnType: None
 IndentRequires: true
 PenaltyReturnTypeOnItsOwnLine: 1000
+Cpp11BracedListStyle: false
 BreakBeforeBinaryOperators: NonAssignment
 AlignOperands: AlignAfterOperator

.clang-tidy

@@ -6,6 +6,7 @@ cert-*,
 -cert-dcl16-c,
 cppcoreguidelines-*,
 -cppcoreguidelines-avoid-magic-numbers,
+-cppcoreguidelines-pro-type-union-access,
 modernize-*,
 -cppcoreguidelines-avoid-non-const-global-variables,
 -modernize-use-nodiscard,

include/accelerometer.hpp

@@ -1,22 +1,33 @@
 #ifndef OBC_ACCELERATION_HPP
 #define OBC_ACCELERATION_HPP
 
-#include <SparkFun_MMA8452Q.h>
+#include <Adafruit_MPU6050.h>
 
 #include "error.hpp"
 #include "result.hpp"
 
 namespace obc {
 
 struct Acceleration {
-    short x;
-    short y;
-    short z;
+    float x;
+    float y;
+    float z;
 };
 
-Result<Unit, Errc> init(MMA8452Q& accelerometer);
-Result<Acceleration, Errc> measure(MMA8452Q& accelerometer);
-void print(Acceleration acclr);
+struct Gyro {
+    float x;
+    float y;
+    float z;
+};
+
+struct AcclrMeasurements {
+    Acceleration acclr_measurements;
+    Gyro gyro_measurements;
+};
+
+Result<Unit, Errc> init(Adafruit_MPU6050& accelerometer);
+Result<AcclrMeasurements, Errc> measure(Adafruit_MPU6050& accelerometer);
+void print(AcclrMeasurements data);
 
 }  // namespace obc
 

include/logger.hpp

@@ -16,7 +16,7 @@
 namespace obc {
 
 struct Packet {
-    Acceleration acclr_measurements;
+    AcclrMeasurements acclr_measurements;
     BmpMeasurements bmp_measurements;
     GpsTime time;
     GpsDate date;
@@ -46,7 +46,7 @@ inline void log_error_and_panic(
 }
 
 void serialize_into(String &buf, const BmpMeasurements &data);
-void serialize_into(String &buf, const Acceleration &data);
+void serialize_into(String &buf, const AcclrMeasurements &data);
 void serialize_into(String &buf, const Packet &data);
 void serialize_into(String &buf, const GpsTime &data);
 void serialize_into(String &buf, const GpsPosition &data);

include/result.hpp

@@ -92,10 +92,10 @@ struct ResultBase {
     bool is_ok_;
 
     // NOLINTNEXTLINE(hicpp-explicit-conversions)
-    ResultBase(Ok<T>&& ok) : ok{std::move(ok)}, is_ok_{true} {}
+    ResultBase(Ok<T>&& ok) : ok{ std::move(ok) }, is_ok_{ true } {}
 
     // NOLINTNEXTLINE(hicpp-explicit-conversions)
-    ResultBase(Err<E>&& err) : err{std::move(err)}, is_ok_{false} {}
+    ResultBase(Err<E>&& err) : err{ std::move(err) }, is_ok_{ false } {}
 
     ResultBase(const ResultBase&) = default;
     ResultBase& operator=(const ResultBase&) = default;
@@ -115,10 +115,10 @@ struct ResultBase<T, E, false> {
     bool is_ok_;
 
     // NOLINTNEXTLINE(hicpp-explicit-conversions)
-    ResultBase(Ok<T>&& ok) : ok{std::move(ok)}, is_ok_{true} {}
+    ResultBase(Ok<T>&& ok) : ok{ std::move(ok) }, is_ok_{ true } {}
 
     // NOLINTNEXTLINE(hicpp-explicit-conversions)
-    ResultBase(Err<E>&& err) : err{std::move(err)}, is_ok_{false} {}
+    ResultBase(Err<E>&& err) : err{ std::move(err) }, is_ok_{ false } {}
 
     ResultBase(const ResultBase&) = delete;
     ResultBase& operator=(const ResultBase&) = delete;

platformio.ini

@@ -7,11 +7,11 @@ build_flags = -std=gnu++17
 build_src_flags = -Wall -Wextra -Wpedantic -Wconversion -Werror -fconcepts -Waddress-of-packed-member -Wdeprecated-declarations
 extra_scripts = script/replace_inc_flag.py
 				pre:script/framework_unflags.py
-#upload_protocol = dfu
+upload_protocol = dfu
 lib_deps = 
 	adafruit/Adafruit GPS Library @ ^1.7.2
 	mahfuz195/BMP280 @ ^1.0.0
-	sparkfun/SparkFun_MMA8452Q @ ^1.4.0
+	adafruit/Adafruit MPU6050 @ ^2.2.4
 	arduino-libraries/SD @ ^1.2.4
 	agdl/Base64 @ ^1.0.0
 check_tool = clangtidy

src/accelerometer.cpp

@@ -4,29 +4,47 @@
 
 namespace obc {
 
-Result<Unit, Errc> init(MMA8452Q& accelerometer)
+Result<Unit, Errc> init(Adafruit_MPU6050& accelerometer)
 {
     Wire.begin();
-    if (not accelerometer.begin()) { return Err{Errc::Busy}; }
-    return Ok{Unit{}};
+    if (not accelerometer.begin()) { return Err{ Errc::Busy }; }
+    accelerometer.setAccelerometerRange(MPU6050_RANGE_8_G);
+    accelerometer.setGyroRange(MPU6050_RANGE_500_DEG);
+    accelerometer.setFilterBandwidth(MPU6050_BAND_21_HZ);
+    return Ok{ Unit{} };
 }
 
-Result<Acceleration, Errc> measure(MMA8452Q& accelerometer)
+Result<AcclrMeasurements, Errc> measure(Adafruit_MPU6050& accelerometer)
 {
-    if (accelerometer.available() == 0) { return Err{Errc::Busy}; }
-    return Ok{Acceleration{
-        accelerometer.getX(),
-        accelerometer.getY(),
-        accelerometer.getZ()}};
+    sensors_event_t acclr;
+    sensors_event_t gyro;
+    sensors_event_t temp;
+
+    if (not accelerometer.getEvent(&acclr, &gyro, &temp)) {
+        return Err{ Errc::Busy };
+    }
+
+    AcclrMeasurements measurements{
+        { acclr.acceleration.x, acclr.acceleration.y, acclr.acceleration.z },
+        { gyro.gyro.x, gyro.gyro.y, gyro.gyro.z }
+    };
+
+    return Ok{ measurements };
 }
 
-void print(Acceleration acclr)
+void print(AcclrMeasurements data)
 {
-    Serial.print(acclr.x);
+    Serial.print(data.gyro_measurements.x, 2);
+    Serial.print("\t");
+    Serial.print(data.gyro_measurements.y, 2);
+    Serial.print("\t");
+    Serial.print(data.gyro_measurements.z, 2);
+    Serial.print("\t");
+    Serial.print(data.acclr_measurements.x, 2);
     Serial.print("\t");
-    Serial.print(acclr.y);
+    Serial.print(data.acclr_measurements.y, 2);
     Serial.print("\t");
-    Serial.print(acclr.z);
+    Serial.print(data.acclr_measurements.z, 2);
     Serial.println();
 }
 

src/barometer.cpp

@@ -12,23 +12,23 @@ constexpr double ground_lvl_pressure = 1013.25;
 
 Result<Unit, Errc> init(BMP280& bmp)
 {
-    if (bmp.begin() == 0) { return Err{Errc::Busy}; }
+    if (bmp.begin() == 0) { return Err{ Errc::Busy }; }
     bmp.setOversampling(4);
-    return Ok{Unit{}};
+    return Ok{ Unit{} };
 }
 
 Result<BmpMeasurements, Errc> measure(BMP280& bmp)
 {
     char result = bmp.startMeasurment();
-    BmpMeasurements temp = {0, 0, 0};
+    BmpMeasurements temp = { 0, 0, 0 };
 
-    if (result == 0) { return Err{Errc::Busy}; }
+    if (result == 0) { return Err{ Errc::Busy }; }
     result = bmp.getTemperatureAndPressure(temp.temperature, temp.pressure);
 
-    if (result == 0) { return Err{Errc::Busy}; }
+    if (result == 0) { return Err{ Errc::Busy }; }
     temp.altitude = bmp.altitude(temp.pressure, ground_lvl_pressure);
 
-    return Ok{temp};
+    return Ok{ temp };
 }
 
 void print(BmpMeasurements measurements)

src/devices.cpp

@@ -2,7 +2,7 @@
 
 #include <Arduino.h>
 
-extern MMA8452Q accelerometer;
+extern Adafruit_MPU6050 accelerometer;
 extern BMP280 bmp;
 extern Adafruit_GPS gps;
 
@@ -20,29 +20,30 @@ void init()
     pinMode(custom_buzzer_pin, OUTPUT);
     sd_init().expect("SD init failure");
 
-    if (auto result = init(accelerometer); result.is_err()) {
+    if (auto result = init_lora(); result.is_err()) {
         log_error_and_panic(
-            String("Accelerometer not initialized properly, errc: ")
+            String("Lora not initialized properly, errc: ")
             + utl::to_underlying(result.unwrap_err()));
     }
+    log_boot("Lora Init --- [OK]");
 
-    if (auto result = init(bmp); result.is_err()) {
-        log_error_and_panic(
-            String("Barometer not initialized properly, errc: ")
-            + utl::to_underlying(result.unwrap_err()));
-    }
+    constexpr auto initialize_device = [&](auto& device, const String& name) {
+        if (auto result = init(device); result.is_err()) {
+            send_packet(String(name + " [INIT ERROR]"));
+            log_error_and_panic(
+                String(name + " not initialized properly, errc: ")
+                + utl::to_underlying(result.unwrap_err()));
+        }
+        log_boot(String(name + " Init --- [OK]"));
 
-    if (auto result = init(gps); result.is_err()) {
-        log_error_and_panic(
-            String("GPS not initialized properly, errc: ")
-            + utl::to_underlying(result.unwrap_err()));
-    }
+        send_packet(String(name + " [OK]"));
 
-    if (auto result = init_lora(); result.is_err()) {
-        log_error_and_panic(
-            String("Lora not initialized properly, errc: ")
-            + utl::to_underlying(result.unwrap_err()));
-    }
+        delay(10000);
+    };
+
+    initialize_device(accelerometer, "Accelerometer");
+    initialize_device(bmp, "BMP");
+    initialize_device(gps, "GPS");
 
     log_boot("Devices initialized properly.");
 }

src/gps.cpp

@@ -15,57 +15,53 @@ constexpr std::array<const char, airborne_hex_array_size> airborne_mode_set = {
     0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xfa, 0x00,
     0xfa, 0x00, 0x64, 0x00, 0x2c, 0x01, 0x00, 0x3c, 0x00, 0x00, 0x00,
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x52, 0xe9,
-    0xb5, 0x62, 0x06, 0x24, 0x00, 0x00, 0x2a, 0x84};
+    0xb5, 0x62, 0x06, 0x24, 0x00, 0x00, 0x2a, 0x84
+};
 
 }  // namespace
 
 Result<Unit, Errc> init(Adafruit_GPS& gps)
 {
-    if (not gps.begin(baud_rate)) { return Err{Errc::Busy}; }
+    if (not gps.begin(baud_rate)) { return Err{ Errc::Busy }; }
     gps.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
     gps.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
     gps.sendCommand(PGCMD_ANTENNA);
     Serial2.println(PMTK_Q_RELEASE);
     Serial2.write(airborne_mode_set.data(), airborne_mode_set.size());
     Serial2.write("\0");
 
-    return Ok{Unit{}};
+    return Ok{ Unit{} };
 }
 
 Result<Unit, Errc> measure(Adafruit_GPS& gps)
 {
     gps.read();
     if (gps.newNMEAreceived()) {
-        if (not gps.parse(gps.lastNMEA())) { return Err{Errc::Busy}; }
+        if (not gps.parse(gps.lastNMEA())) { return Err{ Errc::Busy }; }
     }
-    return Ok{Unit{}};
+    return Ok{ Unit{} };
 }
 
 GpsDate read_date(Adafruit_GPS& gps)
 {
-    return GpsDate{gps.year, gps.month, gps.day};
+    return GpsDate{ gps.year, gps.month, gps.day };
 }
 
 GpsTime read_time(Adafruit_GPS& gps)
 {
-    return GpsTime{gps.hour, gps.minute, gps.seconds, gps.milliseconds};
+    return GpsTime{ gps.hour, gps.minute, gps.seconds, gps.milliseconds };
 }
 
 GpsPosition read_position(Adafruit_GPS& gps)
 {
     if (gps.fix) {
         return GpsPosition{
-            gps.fix,
-            gps.fixquality,
-            gps.longitudeDegrees,
-            gps.lon,
-            gps.latitudeDegrees,
-            gps.lat,
-            gps.altitude,
-            gps.speed,
-            gps.satellites};
+            gps.fix,      gps.fixquality,      gps.longitudeDegrees,
+            gps.lon,      gps.latitudeDegrees, gps.lat,
+            gps.altitude, gps.speed,           gps.satellites
+        };
     }
-    return GpsPosition{false, 0, 0, 0, 0, 0, 0, 0, 0};
+    return GpsPosition{ false, 0, 0, 0, 0, 0, 0, 0, 0 };
 }
 
 void print(GpsTime time)

src/logger.cpp

@@ -49,10 +49,10 @@ void file_appendln(const char* file_name, const char* data)
 
 Result<Unit, Errc> sd_init()
 {
-    if (not SD.begin(sd_chip_select)) { return Err{Errc::Busy}; }
+    if (not SD.begin(sd_chip_select)) { return Err{ Errc::Busy }; }
 
     init_flight_path_folder();
-    if (not SD.mkdir(flight_path_folder)) { return Err{Errc::Busy}; }
+    if (not SD.mkdir(flight_path_folder)) { return Err{ Errc::Busy }; }
 
     log_boot("Booting time: " + String(millis()) + "ms");
 
@@ -63,7 +63,7 @@ Result<Unit, Errc> sd_init()
 
     log_data(logs_legend);
 
-    return Ok{Unit{}};
+    return Ok{ Unit{} };
 }
 
 void log_boot(const char* msg)
@@ -157,13 +157,19 @@ void serialize_into(String& buf, const BmpMeasurements& data)
     buf += "\t";
 }
 
-void serialize_into(String& buf, const Acceleration& data)
+void serialize_into(String& buf, const AcclrMeasurements& data)
 {
-    buf += data.x;
+    buf += data.gyro_measurements.x;
     buf += "\t";
-    buf += data.y;
+    buf += data.gyro_measurements.y;
     buf += "\t";
-    buf += data.z;
+    buf += data.gyro_measurements.z;
+    buf += "\t";
+    buf += data.acclr_measurements.x;
+    buf += "\t";
+    buf += data.acclr_measurements.x;
+    buf += "\t";
+    buf += data.acclr_measurements.x;
     buf += "\t";
 }